public static PredicateConstantGraph computeObjectGraph(PAD.Planner.SAS.Problem p)
{
//var pddlProblemPath = Utils.FileSystemUtils.getPDDLProblemPath(p.GetInputFilePath());
//var pp = PDDLProblem.CreateFromFile(pddlProblemPath.domainFile, pddlProblemPath.problemFile);
var t = translateSASProblemToPDDL(p);
var pp = t;
return(new PredicateConstantGraph(pp));
}
public static CausualGraph computeCausualGraph(PAD.Planner.SAS.Problem problem)
{
CausualGraph result = new CausualGraph();
result.vertices = new List <int>(problem.Variables.Count);
result.isEdge = new bool[problem.Variables.Count, problem.Variables.Count];
result.isMentionedInGoal = new bool[problem.Variables.Count];
for (int i = 0; i < problem.Variables.Count; i++)
{
result.vertices.Add(i);
result.isMentionedInGoal[i] = problem.GoalConditions.Any(g => g.GetVariable() == i);
}
foreach (PAD.Planner.SAS.IOperator item in problem.Operators)
{
foreach (var precond in item.GetPreconditions())
{
foreach (var eff in item.GetEffects())
{
if (eff.GetAssignment().GetVariable() != precond.GetVariable())
{
result.setEdge(precond.GetVariable(), eff.GetAssignment().GetVariable());
}
}
}
foreach (var eff in item.GetEffects())
{
ConditionalEffect condEff = eff as ConditionalEffect;
if (condEff != null)
{
foreach (var cond in condEff.Conditions)
{
if (eff.GetAssignment().GetVariable() != cond.GetVariable())
{
result.setEdge(cond.GetVariable(), eff.GetAssignment().GetVariable());
}
}
}
}
foreach (var eff in item.GetEffects())
{
foreach (var eff2 in item.GetEffects())
{
if (eff.GetAssignment().GetVariable() != eff2.GetAssignment().GetVariable())
{
result.setEdge(eff.GetAssignment().GetVariable(), eff2.GetAssignment().GetVariable());
}
}
}
}
return(result);
}
/// <summary>
/// Gets SaSproblem and produces a PDDLProblem description that
/// is equivalent to current SASState. It returns content of a PDDL problem file (that when parsed would have the same initial state as the SaSProblem.
/// </summary>
/// <param name="p"></param>
/// <param name="s"></param>
/// <returns></returns>
public static PAD.Planner.PDDL.Problem translateSASProblemToPDDL(PAD.Planner.SAS.Problem s)
{
var pddlProblemPath = PADDUtils.FileSystemUtils.getPDDLProblemPath(s.GetInputFilePath());
string originalText = System.IO.File.ReadAllText(pddlProblemPath.problemFile).Replace("(:INIT", "(:init");
string PDDLStateInitRegion = originalText.Split(new string[] { "(:init" }, StringSplitOptions.RemoveEmptyEntries).Skip(1).First().
Split(new string[] { "(:" }, StringSplitOptions.RemoveEmptyEntries).First();
List <string> predicates = PDDLStateInitRegion.Split('(').Select(r => r.Replace(")", "").Trim()).Where(q => !string.IsNullOrWhiteSpace(q)).ToList();
predicates = predicates.Select(q =>
{
int firstSpace = q.IndexOf(" ");
if (firstSpace < 0)
{
firstSpace = q.Length;
return(q.Insert(firstSpace, "("));
}
else
{
return(q.Remove(firstSpace, 1).Insert(firstSpace, "("));
}
}).Select(q => q.Replace(" ", ", ") + ")").ToList();
List <string> newPredicates = new List <string>();
var initialState = s.InitialState;
for (int i = 0; i < initialState.GetAllValues().Length; i++)
{
List <string> corresponding = predicates.Where(q => s.Variables[i].Values.Contains("Atom " + q.ToLower())).ToList();
predicates.RemoveAll(p => corresponding.Contains(p));
newPredicates.Add(s.Variables[i].Values[initialState.GetAllValues()[i]]);
}
predicates.AddRange(newPredicates.Where(x => x.Substring(0, "Atom ".Length) == "Atom "));
predicates = predicates.Select(p => p.Replace("Atom ", "").Replace("(", " ").Replace(",", "").Replace(")", "").Trim()).ToList();
string tempFileName = System.IO.Path.GetTempFileName();
string text = originalText.Split(new string[] { "(:init" }, StringSplitOptions.RemoveEmptyEntries).First() + "(:init\n";
text += string.Join("\n", predicates.Select(q => "\t(" + q + ")"));
text += "\n)\n(:";
text += string.Join("(:", originalText.Split(new string[] { "(:init" }, StringSplitOptions.RemoveEmptyEntries).Skip(1).First().Split(new string[] { "(:" }, StringSplitOptions.RemoveEmptyEntries).Skip(1));
System.IO.File.WriteAllText(tempFileName, text);
var result = new PAD.Planner.PDDL.Problem(pddlProblemPath.domainFile, tempFileName);
System.IO.File.Delete(tempFileName);
return(result);
}
public static DomainTransitionGraph computeDTG(PAD.Planner.SAS.Problem problem, int variable)
{
DomainTransitionGraph result = new DomainTransitionGraph();
result.variable = variable;
result.vertices = new List <int>();
result.edges = new List <GraphEdge>();
if (problem.GoalConditions.Any(g => g.GetVariable() == variable))
{
result.goalValue = problem.GoalConditions.Where(g => g.GetVariable() == variable).Single().GetValue();
}
for (int i = 0; i < problem.Variables[variable].GetDomainRange(); i++)
{
result.vertices.Add(i);
}
foreach (PAD.Planner.SAS.IOperator item in problem.Operators)
{
foreach (var eff in item.GetEffects())
{
if (eff.GetAssignment().GetVariable() == variable)
{
int targetValue = eff.GetAssignment().GetValue();
int originalValue = -1;
List <IAssignment> listOutsideConditions = new List <IAssignment>();
List <IAssignment> listOutsideEffects = new List <IAssignment>();
foreach (var eff1 in item.GetEffects())
{
if (eff1.GetAssignment().GetVariable() != eff.GetAssignment().GetVariable())
{
listOutsideEffects.Add(eff1.GetAssignment());
}
}
ConditionalEffect condEff = eff as ConditionalEffect;
if (condEff != null)
{
foreach (var cond in condEff.Conditions)
{
if (cond.GetVariable() == variable)
{
originalValue = cond.GetValue();
}
else
{
listOutsideConditions.Add(new Assignment(cond.GetVariable(), cond.GetValue()));
}
}
}
foreach (var precond in item.GetPreconditions())
{
if (precond.GetVariable() == variable)
{
originalValue = precond.GetValue();
}
else
{
listOutsideConditions.Add(new Assignment(precond.GetVariable(), precond.GetValue()));
}
}
if (originalValue != -1)
{
GraphEdge e = new GraphEdge();
e.from = originalValue;
e.to = targetValue;
e.outsideCondition = new ConditionalEffect(new PAD.Planner.SAS.Conditions(listOutsideConditions), new Assignment(-1, -1));
e.outsideEffect = new ConditionalEffect(new PAD.Planner.SAS.Conditions(listOutsideEffects), new Assignment(-1, -1));
e.op = item;
result.edges.Add(e);
}
else
{
foreach (var val in result.vertices)
{
if (val == targetValue)
{
continue;
}
GraphEdge e = new GraphEdge();
e.from = val;
e.to = targetValue;
e.outsideCondition = new ConditionalEffect(new PAD.Planner.SAS.Conditions(listOutsideConditions), new Assignment(-1, -1));
e.outsideEffect = new ConditionalEffect(new PAD.Planner.SAS.Conditions(listOutsideEffects), new Assignment(-1, -1));
e.op = item;
result.edges.Add(e);
}
}
}
}
}
result.computeRSE_Invertibility();
return(result);
}